Publications

Haptic Intelligence Software Workshop Autonomous Motion Conference Paper Augmenting Human Policies using Riemannian Metrics for Human-Robot Shared Control Oh, Y., Passy, J., Mainprice, J. In Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), :1612-1618, Busan, Korea, August 2023 (Published) DOI BibTeX

Movement Generation and Control Empirical Inference Autonomous Motion Article BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning Meduri, A., Shah, P., Viereck, J., Khadiv, M., Havoutis, I., Righetti, L. IEEE Transactions on Robotics, 39(2):905-922, IEEE, 2023 (Published) DOI URL BibTeX

Embodied Vision Autonomous Motion Movement Generation and Control Conference Paper Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion Dhédin, V., Li, H., Khorshidi, S., Mack, L., Ravi, A. K. C., Meduri, A., Shah, P., Grimminger, F., Righetti, L., Khadiv, M., et al. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2023 (Published) preprint video DOI URL BibTeX

Autonomous Motion Article Combining learned and analytical models for predicting action effects from sensory data Kloss, A., Schaal, S., Bohg, J. International Journal of Robotics Research, 41(8):741-847, July 2022 (Published) arXiv pdf DOI URL BibTeX

Empirical Inference Autonomous Motion Article Learning to Play Table Tennis From Scratch using Muscular Robots Büchler, D., Guist, S., Calandra, R., Berenz, V., Schölkopf, B., Peters, J. IEEE Transactions on Robotics (T-RO), 38(6):3850-3860, 2022 (Published) arXiv Project Page Video DOI BibTeX

Autonomous Motion Conference Paper Differentiable Factor Graph Optimization for Learning Smoothers Yi, B. L. M. A. K. A. M. R. B. J. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), :1339-1345, IEEE, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021), September 2021 (Published) DOI BibTeX

Autonomous Motion Conference Paper Implementation of a Reactive Walking Controller for the New Open-Hardware Quadruped Solo-12 Leziart, P. F. T. G. F. M. N. S. P. Proceedings IEEE International Conference on Robotics and Automation (ICRA), :5007-5013, IEEE, IEEE International Conference on Robotics and Automation (ICRA), June 2021 (Published) DOI BibTeX

Autonomous Motion Autonomous Learning Article How to Train Your Differentiable Filter Kloss, A., Martius, G., Bohg, J. Autonomous Robots, 45(4):561-578, Springer, June 2021 (Published) arXiv paper DOI URL BibTeX

Autonomous Motion Conference Paper A System for Traded Control Teleoperation of Manipulation Tasks using Intent Prediction from Hand Gestures Oh, Y., Schäfer, T., Rüther, B., Toussaint, M., Mainprice, J. In 2021 30th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2021), :503-508, IEEE, Piscataway, NJ, 30th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2021), 2021 (Published) DOI BibTeX

Autonomous Motion Conference Paper GraspME - Grasp Manifold Estimator Hager, J., Bauer, R., Toussaint, M., Mainprice, J. In 2021 30th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2021), :626-632, IEEE, Piscataway, NJ, 30th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2021) , 2021 (Published) DOI BibTeX

Autonomous Motion Conference Paper Hierarchical Human-Motion Prediction and Logic-Geometric Programming for Minimal Interference Human-Robot Tasks Le, A. T., Kratzer, P., Hagenmayer, S., Toussaint, M., Mainprice, J. In 2021 30th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2021) , :7-14, IEEE, Piscataway, NJ, 30th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2021), 2021 (Published) DOI BibTeX

Autonomous Motion Conference Paper Learning to Arbitrate Human and Robot Control using Disagreement between Sub-Policies Oh, Y., Toussaint, M., Mainprice, J. In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021), :5305-5311, IEEE, Piscataway, NJ, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021), 2021 (Published) DOI BibTeX

Empirical Inference Autonomous Motion Movement Generation and Control Conference Paper TriFinger: An Open-Source Robot for Learning Dexterity Wüthrich, M., Widmaier, F., Grimminger, F., Akpo, J., Joshi, S., Agrawal, V., Hammoud, B., Khadiv, M., Bogdanovic, M., Berenz, V., et al. Proceedings of the 4th Conference on Robot Learning (CoRL), 155:1871-1882, Proceedings of Machine Learning Research, (Editors: Jens Kober and Fabio Ramos and Claire J. Tomlin), PMLR, November 2020 (Published) PDF URL BibTeX

Autonomous Motion Conference Paper Learning Sensory-Motor Associations from Demonstration Berenz, V., Bjelic, A., Herath, L., Mainprice, J. 29th IEEE International Conference on Robot and Human Interactive Communication (Ro-Man 2020), August 2020 (Published) BibTeX

Autonomous Motion Conference Paper Accurate Vision-based Manipulation through Contact Reasoning Kloss, A., Bauza, M., Wu, J., Tenenbaum, J. B., Rodriguez, A., Bohg, J. In International Conference on Robotics and Automation, May 2020, Accepted (Accepted) Video URL BibTeX

Dynamic Locomotion Movement Generation and Control Autonomous Motion Empirical Inference Robotics Article An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research Grimminger, F., Meduri, A., Khadiv, M., Viereck, J., Wüthrich, M., Naveau, M., Berenz, V., Heim, S., Widmaier, F., Flayols, T., et al. IEEE Robotics and Automation Letters, 5(2):3650-3657, IEEE, April 2020 (Published) Youtube Open Dynamic Robot Initiative DOI URL BibTeX

Empirical Inference Autonomous Learning Autonomous Motion Movement Generation and Control Conference Paper A Real-Robot Dataset for Assessing Transferability of Learned Dynamics Models Agudelo-España, D., Zadaianchuk, A., Wenk, P., Garg, A., Akpo, J., Grimminger, F., Viereck, J., Naveau, M., Righetti, L., Martius, G., et al. IEEE International Conference on Robotics and Automation (ICRA), :8151-8157, IEEE, 2020 (Published) Project Page PDF DOI BibTeX

Autonomous Motion Conference Paper An Interior Point Method Solving Motion Planning Problems with Narrow Passages Mainprice, J., Ratliff, N., Toussaint, M., Schaal, S. In 2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2020), :547-552, IEEE, Piscataway, NJ, 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2020), 2020 (Published) DOI BibTeX

Intelligent Control Systems Autonomous Motion Proceedings Excursion Search for Constrained Bayesian Optimization under a Limited Budget of Failures Marco, A., Rohr, A. V., Baumann, D., Hernández-Lobato, J. M., Trimpe, S. 2020, In revision (In revision) arXiv code (python) PDF BibTeX

Autonomous Motion Conference Paper Prediction of Human Full-Body Movements with Motion Optimization and Recurrent Neural Networks Kratzer, P., Toussaint, M., Mainprice, J. In 2020 IEEE International Conference on Robotics and Automation (ICRA 2020), :1792-1798, IEEE, Piscataway, NJ, IEEE International Conference on Robotics and Automation (ICRA 2020), 2020 (Published) DOI BibTeX

Intelligent Control Systems Autonomous Motion Article Safe and Fast Tracking on a Robot Manipulator: Robust MPC and Neural Network Control Nubert, J., Koehler, J., Berenz, V., Allgower, F., Trimpe, S. IEEE Robotics and Automation Letters, 5(2):3050-3057, 2020 (Published) arXiv PDF DOI BibTeX

Empirical Inference Optics and Sensing Laboratory Autonomous Motion Conference Paper On the Transfer of Inductive Bias from Simulation to the Real World: a New Disentanglement Dataset Gondal, M. W., Wüthrich, M., Miladinovic, D., Locatello, F., Breidt, M., Volchkov, V., Akpo, J., Bachem, O., Schölkopf, B., Bauer, S. Advances in Neural Information Processing Systems 32 (NeurIPS 2019), :15714-15725, (Editors: H. Wallach and H. Larochelle and A. Beygelzimer and F. d’Alché-Buc and E. Fox and R. Garnett), Curran Associates, Inc., 33rd Annual Conference on Neural Information Processing Systems, December 2019 (Published) URL BibTeX

Autonomous Motion Conference Paper Learning Latent Space Dynamics for Tactile Servoing Sutanto, G., Ratliff, N., Sundaralingam, B., Chebotar, Y., Su, Z., Handa, A., Fox, D. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2019, IEEE, International Conference on Robotics and Automation, May 2019, Accepted (Accepted) pdf video BibTeX

Autonomous Motion Movement Generation and Control Conference Paper Leveraging Contact Forces for Learning to Grasp Merzic, H., Bogdanovic, M., Kappler, D., Righetti, L., Bohg, J. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2019, IEEE, International Conference on Robotics and Automation, May 2019 () video arXiv BibTeX

Autonomous Motion Article Statistical Coverage Control of Mobile Sensor Networks Arslan, Ö. IEEE Transactions on Robotics, 35(4):889-908, 2019 (Published) DOI BibTeX

Autonomous Motion Article A Value-Driven Eldercare Robot: Virtual and Physical Instantiations of a Case-Supported Principle-Based Behavior Paradigm Anderson, M., Anderson, S., Berenz, V. Proceedings of the IEEE, :1,15, October 2018 () DOI URL BibTeX

Autonomous Motion Article ClusterNet: Instance Segmentation in RGB-D Images Shao, L., Tian, Y., Bohg, J. arXiv, September 2018, Submitted to ICRA'19, Submitted (Submitted) URL BibTeX

Autonomous Motion Article Playful: Reactive Programming for Orchestrating Robotic Behavior Berenz, V., Schaal, S. IEEE Robotics Automation Magazine, 25(3):49-60, September 2018, In press (In press) playful website playful_IEEE_RAM DOI URL BibTeX

Autonomous Motion Intelligent Control Systems Conference Paper Probabilistic Recurrent State-Space Models Doerr, A., Daniel, C., Schiegg, M., Nguyen-Tuong, D., Schaal, S., Toussaint, M., Trimpe, S. In Proceedings of the International Conference on Machine Learning (ICML), International Conference on Machine Learning (ICML), July 2018 (Published) arXiv pdf BibTeX

Autonomous Motion Article Real-time Perception meets Reactive Motion Generation Kappler, D., Meier, F., Issac, J., Mainprice, J., Garcia Cifuentes, C., Wüthrich, M., Berenz, V., Schaal, S., Ratliff, N., Bohg, J. IEEE Robotics and Automation Letters, 3(3):1864-1871, July 2018 (Published) arxiv video video DOI URL BibTeX

Autonomous Motion Conference Paper Learning Sensor Feedback Models from Demonstrations via Phase-Modulated Neural Networks Sutanto, G., Su, Z., Schaal, S., Meier, F. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2018, IEEE, International Conference on Robotics and Automation, May 2018 (Published) pdf video BibTeX

Autonomous Motion Conference Paper Online Learning of a Memory for Learning Rates Meier, F., Kappler, D., Schaal, S. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2018, IEEE, International Conference on Robotics and Automation, May 2018, accepted () pdf video code BibTeX

Autonomous Motion Intelligent Control Systems Learning and Dynamical Systems Article Distributed Event-Based State Estimation for Networked Systems: An LMI Approach Muehlebach, M., Trimpe, S. IEEE Transactions on Automatic Control, 63(1):269-276, January 2018 (Published) arXiv (extended version) DOI BibTeX

Movement Generation and Control Autonomous Motion Conference Paper An MPC Walking Framework With External Contact Forces Mason, S., Rotella, N., Schaal, S., Righetti, L. In 2018 IEEE International Conference on Robotics and Automation (ICRA), :1785-1790, IEEE, Brisbane, Australia, May 2018 () DOI URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper Learning Task-Specific Dynamics to Improve Whole-Body Control Gams, A., Mason, S., Ude, A., Schaal, S., Righetti, L. In Hua, IEEE, Beijing, China, November 2018 () URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper On Time Optimization of Centroidal Momentum Dynamics Ponton, B., Herzog, A., Del Prete, A., Schaal, S., Righetti, L. In 2018 IEEE International Conference on Robotics and Automation (ICRA), :5776-5782, IEEE, Brisbane, Australia, 2018 () DOI URL BibTeX

Movement Generation and Control Autonomous Motion Conference Paper Unsupervised Contact Learning for Humanoid Estimation and Control Rotella, N., Schaal, S., Righetti, L. In 2018 IEEE International Conference on Robotics and Automation (ICRA), :411-417, IEEE, Brisbane, Australia, 2018 () DOI URL BibTeX

Autonomous Motion Probabilistic Numerics Intelligent Control Systems Conference Paper On the Design of LQR Kernels for Efficient Controller Learning Marco, A., Hennig, P., Schaal, S., Trimpe, S. Proceedings of the 56th IEEE Annual Conference on Decision and Control (CDC), :5193-5200, IEEE, IEEE Conference on Decision and Control, December 2017 (Published) arXiv PDF On the Design of LQR Kernels for Efficient Controller Learning - CDC presentation DOI BibTeX

Autonomous Motion Conference Paper Multi-Modal Imitation Learning from Unstructured Demonstrations using Generative Adversarial Nets Hausman, K., Chebotar, Y., Schaal, S., Sukhatme, G., Lim, J. In Proceedings from the conference "Neural Information Processing Systems 2017., (Editors: Guyon I. and Luxburg U.v. and Bengio S. and Wallach H. and Fergus R. and Vishwanathan S. and Garnett R.), Curran Associates, Inc., Advances in Neural Information Processing Systems 30 (NIPS 2017), December 2017 () pdf video BibTeX

Autonomous Motion Article Interactive Perception: Leveraging Action in Perception and Perception in Action Bohg, J., Hausman, K., Sankaran, B., Brock, O., Kragic, D., Schaal, S., Sukhatme, G. IEEE Transactions on Robotics, 33:1273-1291, December 2017 (Published) arXiv DOI BibTeX

Autonomous Motion Article Acquiring Target Stacking Skills by Goal-Parameterized Deep Reinforcement Learning Li, W., Bohg, J., Fritz, M. arXiv, November 2017, Submitted (Submitted) arXiv BibTeX

Autonomous Motion Intelligent Control Systems Conference Paper Optimizing Long-term Predictions for Model-based Policy Search Doerr, A., Daniel, C., Nguyen-Tuong, D., Marco, A., Schaal, S., Toussaint, M., Trimpe, S. Proceedings of 1st Annual Conference on Robot Learning (CoRL), 78:227-238, (Editors: Sergey Levine and Vincent Vanhoucke and Ken Goldberg), 1st Annual Conference on Robot Learning, November 2017 (Published) PDF BibTeX

Autonomous Motion Conference Paper A New Data Source for Inverse Dynamics Learning Kappler, D., Meier, F., Ratliff, N., Schaal, S. In Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Piscataway, NJ, USA, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September 2017 () BibTeX

Empirical Inference Autonomous Motion Conference Paper Bayesian Regression for Artifact Correction in Electroencephalography Fiebig, K., Jayaram, V., Hesse, T., Blank, A., Peters, J., Grosse-Wentrup, M. Proceedings of the 7th Graz Brain-Computer Interface Conference 2017 - From Vision to Reality, :131-136, (Editors: Müller-Putz G.R., Steyrl D., Wriessnegger S. C., Scherer R.), Graz University of Technology, Austria, Graz Brain-Computer Interface Conference, September 2017 (Published) DOI BibTeX

Empirical Inference Autonomous Motion Conference Paper Investigating Music Imagery as a Cognitive Paradigm for Low-Cost Brain-Computer Interfaces Grossberger, L., Hohmann, M. R., Peters, J., Grosse-Wentrup, M. Proceedings of the 7th Graz Brain-Computer Interface Conference 2017 - From Vision to Reality, :160-164, (Editors: Müller-Putz G.R., Steyrl D., Wriessnegger S. C., Scherer R.), Graz University of Technology, Austria, Graz Brain-Computer Interface Conference, September 2017 (Published) DOI BibTeX

Autonomous Motion Conference Paper On the relevance of grasp metrics for predicting grasp success Rubert, C., Kappler, D., Morales, A., Schaal, S., Bohg, J. In Proceedings of the IEEE/RSJ International Conference of Intelligent Robots and Systems, September 2017, Accepted (Accepted) BibTeX

Autonomous Motion Conference Paper Combining Model-Based and Model-Free Updates for Trajectory-Centric Reinforcement Learning Chebotar, Y., Hausman, K., Zhang, M., Sukhatme, G., Schaal, S., Levine, S. Proceedings of the 34th International Conference on Machine Learning, 70, Proceedings of Machine Learning Research, (Editors: Doina Precup, Yee Whye Teh), PMLR, International Conference on Machine Learning (ICML), August 2017 () pdf video BibTeX

Empirical Inference Autonomous Motion Conference Paper Local Bayesian Optimization of Motor Skills Akrour, R., Sorokin, D., Peters, J., Neumann, G. Proceedings of the 34th International Conference on Machine Learning (ICML), 70:41-50, Proceedings of Machine Learning Research, (Editors: Doina Precup, Yee Whye Teh), PMLR, August 2017 (Published) URL BibTeX

Autonomous Motion Intelligent Control Systems Article Event-based State Estimation: An Emulation-based Approach Trimpe, S. IET Control Theory & Applications, 11(11):1684-1693, July 2017 (Published) arXiv Supplementary material PDF DOI BibTeX

Autonomous Motion Conference Paper Learning Feedback Terms for Reactive Planning and Control Rai, A., Sutanto, G., Schaal, S., Meier, F. Proceedings 2017 IEEE International Conference on Robotics and Automation (ICRA), IEEE, Piscataway, NJ, USA, IEEE International Conference on Robotics and Automation (ICRA), May 2017 (Published) pdf video BibTeX

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